%\subsection{Resolution of Sound Map}

%The sound intensity p perceived by the agent is also computed using following fomula:
%\begin{equation}
%  p=\frac{log(I)}{d^2}
%\end{equation}
%But here the distance d is the length of shortest path from the sound source to the agent.
%And a time delay should be considered:
%\begin{equation}
%  delay=\frac{d}{v}
%\end{equation}
%v is the speed of sound wave. Besides, Doppler effect can also be integrated:
%\begin{equation}
%  f_r=\frac{v-v_s*cos(\theta_s)}{v-v_t*cos(\theta_t)}*f_s
%\end{equation}
%v, $v_s$ and $v_t$ are the speeds of sound wave, sound source and agent, respectively. $\theta_s$ is the angle between the shortest path and source velocity, and $\theta_t$ is the angle between the shortest path and receptor.
